CN110428757A - A kind of projection sand table system control method, device and readable storage medium storing program for executing - Google Patents
A kind of projection sand table system control method, device and readable storage medium storing program for executing Download PDFInfo
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- CN110428757A CN110428757A CN201910677746.9A CN201910677746A CN110428757A CN 110428757 A CN110428757 A CN 110428757A CN 201910677746 A CN201910677746 A CN 201910677746A CN 110428757 A CN110428757 A CN 110428757A
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- sand table
- projection
- sand
- target
- husky
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F19/00—Advertising or display means not otherwise provided for
- G09F19/12—Advertising or display means not otherwise provided for using special optical effects
- G09F19/18—Advertising or display means not otherwise provided for using special optical effects involving the use of optical projection means, e.g. projection of images on clouds
Abstract
The present invention relates to a kind of projection sand table system control method, device and readable storage medium storing program for executing.Wherein, the projection sand table system control method includes: acquisition sand table model data corresponding with target sand table；According to the feature point information of target sand table described in the sand table model data acquisition；Obtain the altitude data of the target sand table corresponding with the feature point information；It drives the sand pushing device execution of the projection sand table to push away husky operation according to the altitude data and forms the target sand table to push away sand in the projection sand table；When recognize the projection sand table feedback push away it is husky complete signal when, the projection instruction for projecting corresponding target image on the target sand table is issued to the projection device, projects target image so that the projection device is instructed according to the projection to the target sand table.Technical solution provided by the invention solves the problems such as existing three-dimensional electronic sand table observes sand table topography and geomorphology there are user with being unable to visual pattern.
Description
Technical field
The present invention relates to projection sand table technical fields, and in particular to a kind of projection sand table system control method, device and can
Read storage medium.
Background technique
Auxiliary tool of the sand table as research of fighting, the always attention by Force Command person and staff are calculating
Machine technology undeveloped period, people mainly make sand table by way of accumulation in kind to meet the needs for research of fighting,
Information Battlefield it is fast changing, traditional sand table and marker method can no longer meet future war research need
It wants, with the fast development of computer technology, occurs showing the product of three-dimensional electronic sand table by screen, it can be quickly smart
Show two, three-dimensional map quasi-ly and realize linkage, but since existing electronic sand table is showed by screen, it is existing
The problems such as three-dimensional electronic sand table observes sand table topography and geomorphology there are user with being unable to visual pattern.
Summary of the invention
In order to solve existing three-dimensional electronic sand table, there are users to observe sand table topography and geomorphology etc. with being unable to visual pattern
Problem.
In a first aspect, the projection sand table system includes throwing the present invention provides a kind of projection sand table system control method
Shadow sand table and projection device, which is characterized in that the projection sand table system control method includes the following steps:
Obtain sand table model data corresponding with target sand table；
According to the feature point information of target sand table described in the sand table model data acquisition；
Obtain the altitude data of the target sand table corresponding with the feature point information；
The sand pushing device execution of the projection sand table is driven to push away husky operation according to the altitude data, with husky in the projection
The husky formation target sand table is pushed away in disk；
When recognize the projection sand table feedback push away it is husky complete signal when, Xiang Suoshu projection device is issued for described
The projection instruction of corresponding target image is projected on target sand table, so that the projection device is instructed according to the projection to described
Target sand table projects target image.
Further, described to drive the sand pushing device execution of the projection sand table to push away husky operation according to the altitude data, with
The husky formation target sand table is pushed away in the projection sand table to specifically comprise the following steps:
Obtain the current location posture information of the sand pushing device；
Target position posture corresponding with the current location posture information is obtained according to the current location posture information
Information；
Drive the sand pushing device extremely corresponding with the target position posture information according to the target position posture information
Targeted attitude.
Further, the sand pushing device execution of the projection sand table is driven to push away husky operation according to the altitude data described,
Further include following steps before pushing away husky the step of forming the target sand table in the projection sand table:
Judge whether the sand pushing device is in reset position；
When the sand pushing device is in the reset position, it is described according to altitude data driving to issue progress
The sand pushing device execution of projection sand table pushes away husky operation, to push away husky the step of forming the target sand table in the projection sand table
Reserved instruction；
When the sand pushing device is not at the reset position, issue described multiple for driving the sand pushing device to reach
The reset instruction of position position.
Further, the sand pushing device includes: left and right to mounting assembly and multiple pushes away husky unit；The left and right is to installation group
Part includes mounting plate and left and right to driving mechanism, and the left and right is detachable to the power output end of driving mechanism and the mounting plate
Connection, to drive the mounting plate in the top of the Shengs sand table of the projection sand table along controlling to moving；
It is multiple it is described push away husky unit and be set to the mounting plate to arrangement along front and back, it is each that described to push away husky unit include pushing away
Husky bar and push away husky driving mechanism, it is described to push away husky driving mechanism and described push away husky bar downwards close to the Shengs sand table or upward to drive
Far from the Sheng sand table.
Further, the left and right is to driving mechanism and described to push away husky driving mechanism include driving motor.
Further, described when recognizing when pushing away husky completion signal of the projection sand table feedback, Xiang Suoshu projection device is sent out
It is instructed out for projecting the projection of corresponding target image on the target sand table, so that the projection device is according to the throwing
Shadow is instructed to be specifically comprised the following steps: to target sand table projection target image
Obtain the sand dune surface characteristic data for pushing away the target sand table after the completion of sand；
Means of Deformation Mapping Approach relationship of the sand dune surface relative to projection device is obtained using the sand dune surface characteristic data；
Raw video progress deformation process is obtained into target image according to the Means of Deformation Mapping Approach relationship；
The instruction that the target image is projected to the sand dune surface is issued to the projection device.
Further, described that raw video progress deformation process is obtained by the side of target image according to the Means of Deformation Mapping Approach relationship
Method includes the compromise face distortion of projection technology based on bezier surface.
Further, the altitude data includes GIS altitude data.
Second aspect, the present invention provides a kind of projection sand table system control devices, including memory and processor；
The memory, for storing computer program；
The processor, for when loaded and executed, realizing projection sand table system control as described above
Method.
The third aspect is stored with computer on the readable storage medium storing program for executing the present invention provides a kind of readable storage medium storing program for executing
Program realizes projection sand table system control method as described above when the computer program is executed by processor.
The beneficial effect of a kind of projection sand table system control method provided by the invention, device and readable storage medium storing program for executing is:
The present invention above pushes away sand in projection sand table by the Tui Sha mechanism of control projection sand table and forms target sand table, and controls projection device and exist
Target image is projected on the target sand table.Operation sand table is presented with the state of entity sand table, and can be in entity sand
Target image is shown on disk；Solving existing three-dimensional electronic sand table, there are users to observe sand table landform with being unable to visual pattern
The problems such as landforms.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of first pass schematic diagram of projection sand table system control method of the embodiment of the present invention；
Fig. 2 is a kind of second procedure schematic diagram of projection sand table system control method of the embodiment of the present invention；
Fig. 3 is a kind of third flow diagram of projection sand table system control method of the embodiment of the present invention；
Fig. 4 is a kind of the 4th flow diagram of projection sand table system control method of the embodiment of the present invention；
After Fig. 5 is projection sand table removes partial shell in a kind of projection sand table system control method of the embodiment of the present invention
Stereoscopic schematic diagram；
Fig. 6 is stereoscopic schematic diagram of the elevating mechanism with left and right to driving mechanism in Fig. 5；
Fig. 7 is the enlarged diagram of the part A in Fig. 6；
Fig. 8 is the enlarged diagram of the part B in Fig. 6；
Fig. 9 is the enlarged diagram of the part C in Fig. 6；
Figure 10 is the stereoscopic schematic diagram of sand table lifting assembly in Fig. 5；
Figure 11 is the stereoscopic schematic diagram controlled in Fig. 5 to mounting assembly；
Figure 12 is the exploded perspective schematic diagram that husky unit is pushed away described in Fig. 5；
Figure 13 is the status diagram that husky unit is pushed away in Figure 11.
| Label | Title | Label | Title |
| 100 | Project sand table | 1 | Rack |
| 2 | Sand table lifting assembly | 21 | Elevating mechanism |
| 211 | First Worm gear feed screw elevator | 212 | First driving motor |
| 213 | Second Worm gear feed screw elevator | 214 | Drive rod |
| 215 | Transmission belt | 22 | Contain sand table |
| 31 | Mounting plate | 321 | Sliding block |
| 322 | Sliding rail | 323 | Second driving motor |
| 324 | Driven roller | 325 | Driven voller |
| 326 | Drive band | 4 | Push away husky unit |
| 41 | Push away husky bar | 411 | Tooth-strip part |
| 412 | Limited block | 42 | Push away husky driving mechanism |
| 421 | Push away husky pole socket | 4211 | Mounting groove |
| 422 | Push away husky motor | 423 | Spur gear |
| 200 | Optical projection system | 201 | Projection device |
Specific embodiment
In being described below, for illustration and not for limitation, propose such as specific system structure, interface, technology it
The detail of class understands the present invention to cut thoroughly.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, omit to well-known system, circuit and
The detailed description of method, in case unnecessary details interferes description of the invention.
In a first aspect, the embodiment of the invention provides a kind of projection sand table system control method, the projection sand table system
Including projection sand table and projection device, in an embodiment of the present invention, as shown in Figure 1, the projection sand table system control method
Include the following steps:
In an embodiment of the present invention, as shown in Figure 1:
S10 obtains sand table model data corresponding with target sand table.
The target sand table is to carry out needing in projection sand table after pushing away husky operation by the sand pushing device on projection sand table
The husky mould of upper presentation pushed away after the completion of sand, the sand table model data can utilize 3D scanning camera to clap in the sky by unmanned plane
It is obtained after taking the photograph target area, or existing 3 D sand table model.In this step, the executing subject of the present embodiment can be with
For the host computer being integrated in the projection sand table or the projection device, it is also possible to through network interface and the projection
Sand table or the server of projection device connection, specific set-up mode, those skilled in the art, which can according to need, to be set
It sets, herein with no restrictions.
S20, according to the feature point information of target sand table described in the sand table model data acquisition.
In this step, the feature point information of the target sand table includes the corresponding three-dimensional coordinate data of characteristic point.
S30 obtains the altitude data of the target sand table corresponding with the feature point information.
In this step, the altitude data in the feature point information can be the ordinate in the three-dimensional coordinate.
S40 drives the sand pushing device execution of the projection sand table to push away husky operation, in the throwing according to the altitude data
The husky formation target sand table is pushed away in shadow sand table.
Sand pushing device described in this step may include the husky bar array that pushes away laterally arranged along projection sand table, described to push away husky behaviour
Work includes that the cooperation for driving driving element such as motor, gear and rack gear in the sand pushing device is issued to the driver of system
Husky bar array is pushed away described in promotion and reaches the corresponding position of the altitude data, including the feeding for pushing away husky bar array transverse direction and institute
State and push away in husky bar array each and push away the length travel of husky bar so that it is each it is described push away husky bar can general during traverse feed
Sand beyond each characteristic point position respective heights, which pushes away, to be removed, and target sand table can be realized pushes away husky shaping operation.
S50, when recognize the projection sand table feedback push away it is husky complete signal when, Xiang Suoshu projection device issue for
Projected on the target sand table corresponding target image projection instruction, for the projection device according to the projection instruction to
The target sand table projects target image.
It is described push away it is husky complete signal can be according to the limit switch and machine in the Tui Sha mechanism that the target sand table is arranged in
The electric signal of the touching feedback of frame obtains, and certain limit switch may be that distance grating ruler or other displacement sensors replace
Generation, the projection device may include depth transducer, so that the sand that pushes away that controller obtains sand table in real time shapes situation, controller
It controls and issues the projection for projecting corresponding target image on target sand table instruction to the projection device, for the throwing
Shadow equipment is instructed to the target sand table according to the projection and is projected.
In a preferred embodiment, as shown in Figure 2:
It is described to drive the sand pushing device execution of the projection sand table to push away husky operation according to the altitude data, in the throwing
The husky formation target sand table is pushed away in shadow sand table to specifically comprise the following steps:
S41 obtains the current location posture information of the sand pushing device.
In this step, the current location posture information of the sand pushing device includes the height letter for pushing away husky bar described above
Breath and it is described push away husky unit in the location information of traverse feed, the elevation information for pushing away husky bar can be according to Distance-sensing
The data of device feedback obtain, the data that the traverse feed data for pushing away husky unit can also be fed back by corresponding range sensor
It obtains；The acquisition of the current location posture information pushes away husky machine for current location information corresponding position control convenient for system
What structure carried out latter step pushes away husky operation.
S42 obtains target position corresponding with the current location posture information according to the current location posture information
Posture information.
In this step, the target position posture information i.e. current location turn down it is extra it is husky need to drive push away husky bar and arrive
The posture reached, the target position posture information of the sand pushing device include the height letter that the needs for pushing away husky bar described above reach
Breath and it is described push away husky unit in the location information for laterally needing to be fed into, the elevation information for pushing away husky bar can according to away from
Data from sensor feedback obtain, and the traverse feed data for pushing away husky unit can also be fed back by corresponding range sensor
Data obtain.
S43, according to the target position posture information drive the sand pushing device to the target position posture information
Corresponding targeted attitude.
In this step, the driving sand pushing device can into targeted attitude corresponding with the targeted attitude information
Control instruction is issued to obtain to the driver of respective drivers such as driving motor by controller.
In a preferred embodiment, as shown in Figure 3:
The sand pushing device execution of the projection sand table is driven to push away husky operation according to the altitude data described, described
Further include following steps before pushing away husky the step of forming the target sand table in projection sand table:
S401, judges whether the sand pushing device is in reset position.
In this step, limit switch or limit sensors that the reset position can be arranged on the sand pushing device
Such as the sand pushing device of the limit sensors such as Hall sensor feedback reaches the signal of reset position.
It is described according to altitude data drive to issue progress when the sand pushing device is in the reset position by S402
The sand pushing device execution for moving the projection sand table pushes away husky operation, to push away the husky formation target sand table in the projection sand table
The reserved instruction of step.
I.e. when the sand pushing device is in reset position, the reserved instruction is ready to carry out described in the progress
It drives the sand pushing device of the projection sand table to execute according to the altitude data and pushes away the husky instruction operated, the reserved instruction includes
The instruction such as initialization of sand pushing device attitude data.
S403 is issued when the sand pushing device is not at the reset position for driving the sand pushing device to reach
The reset instruction of the reset position.
Just carried out in the present embodiment when the sand pushing device is in reset position it is subsequent push away husky operation, it is convenient according to same
One direction direction disposably completes to push away husky operation, reduces the sand pushing device from the middle part of projection sand table because described push away husky dress
It sets passes and pushes away the husky risk for causing to have pushed away the target sand table damage of husky forming.
In a preferred embodiment, as shown in Figure 4:
The sand pushing device includes: left and right to mounting assembly and multiple pushes away husky unit；The left and right includes to mounting assembly
To driving mechanism, the left and right is detachably connected to the power output end of driving mechanism with the mounting plate for mounting plate and left and right,
To drive the mounting plate in the top of the Shengs sand table of the projection sand table along controlling to moving；
It is multiple it is described push away husky unit and be set to the mounting plate to arrangement along front and back, it is each that described to push away husky unit include pushing away
Husky bar and push away husky driving mechanism, it is described to push away husky driving mechanism and described push away husky bar downwards close to the Shengs sand table or upward to drive
Far from the Sheng sand table.
The left and right is to driving mechanism and described to push away husky driving mechanism include driving motor.
As depicted in figure 10 and figure 13, the projection sand table 100 includes: rack 1, sand table lifting assembly 2, a left side to specific such as figure
Dextrad mounting assembly multiple pushes away husky unit 4；There is opening up installation space in the middle part of the rack 1；The sand table lifting group
Part 2 includes elevating mechanism 21 and contains sand table 22, and the elevating mechanism 21 is installed on the rack 1, and the Sheng sand table 22 is vertically
To being installed on the installation space, and the lift side of the elevating mechanism 21 and the Sheng sand table 22 are detachably connected to drive
It states and contains sand table 22 in the installation space vertically to movement；The left and right is to mounting assembly, including mounting plate 31 and left and right
To driving mechanism, the left and right is detachably connected to the power output end of driving mechanism and the mounting plate 31 to drive the peace
Loading board 31 is in the top for containing sand table 22 along left and right to moving；Husky unit 4, which is pushed away, described in multiple is set to institute to arrangement along front and back
State mounting plate 31, it is each it is described to push away husky unit 4 include pushing away husky bar 41 and pushing away husky driving mechanism 42, it is described to push away husky driving mechanism 42
It described push away husky bar 41 to drive and close to the Sheng sand table 22 or is upwardly away from the Sheng sand table 22 downwards.
The rack 1 can be spliced by aluminium alloy extrusions, or and other Metal Material Weldings are spliced,
Supporting beam or bottom plate can be set into install the sand table lifting assembly 2 in the bottom of the opening up installation space；Institute
Stating elevating mechanism 21 can be with mechanisms such as turbine screw lifts；The lift side of the elevating mechanism 21, such as turbine screw rod is along upper
Lower to drive the Sheng sand table 22 to go up and down to the telescopic screw rod of setting, described be detachably connected can connect for threaded connection or buckle
It connects；The left and right can add being equipped with for driving motor to driving mechanism for gear and rack gear, or screw rod and spiral shell
It is female and driving motor to be equipped with；It is described to push away husky driving mechanism and be set for gear and rack gear plus the cooperation of driving motor
It sets, or screw rod and nut and driving motor are equipped with.
Please referring to the elevating mechanism 21 shown in Fig. 5, Figure 10 and Figure 13 may include 211 and of the first turbine screw lift
First driving motor 212, power intake and first driving motor 212 of the first turbine screw lift 211
Motor shaft is drivingly connected, and the lift side of the first turbine screw lift 211 detachably connects with the bottom wall for containing sand table 22
It connects.The first turbine screw lift 211 includes horizontally disposed turbine rod and vertically to the screw rod of setting, turbine rod
After turbine and screw rod cooperation, the screw rod can be driven to move up and down after the turbine rotation, first driving motor 212 can
Think that decelerating motor or stepper motor, the motor shaft of first driving motor 212 can pass through shaft coupling and the turbine rod
Connection.The elevating mechanism 21 is equipped with by the first turbine screw lift 211 and the first driving motor 212, so that Sheng Sha
Disk 22 can move up up and down, and the Sheng sand table 22 is jacked up before pushing away sand convenient for pushing away husky unit 4, facilitate and fill out into Sheng sand table 22
Sand material, and during pushing away husky unit 4 and pushing away sand, it falls and contains sand table 22, push away husky bar 41 convenient for multiple described push away in husky unit 4
Husky operation is pushed away to realization is moved along left and right after contacting with the sand in Sheng sand table 22, and can be when pushing away husky operation completion, by Sheng Sha
Disk 22 rises, and observes sand table model convenient for user.
Further referring to Figure 10, the elevating mechanism 21 further includes the second turbine screw lift 213 and drive rod
214, the power intake of the second turbine screw lift 213 and the power of the first turbine screw lift 211 are defeated
Enter end to be sequentially connected by the drive rod 214.The second turbine screw lift 213 include horizontally disposed turbine rod and
It can vertically be driven on the screw rod after the turbine rotation after turbine and the screw rod cooperation of turbine rod to the screw rod of setting
Lower movement.The power intake of the second turbine screw lift 213 is connected by drive rod 214 so that first driving
Motor 212, which can synchronize, drives the first turbine screw lift 211 and the second turbine screw lift 213, so that
The first turbine screw lift 211 and the second turbine screw lift 213 can be with synchronization of jacking up or the downward Shengs
Sand table 22, so that the up and down adjustment for containing sand table 22 is more steady.
The first turbine screw lift 211, the first driving motor 212, the second turbine screw lift 213 with
And the drive rod 214 is arranged at intervals with two groups in front and back upwards, and is provided with transmission belt 215 between two drive rods 214,
The transmission belt 215 and two 214 V belt translations of drive rod cooperate to realize that two drive rods 214 rotate synchronously.Described
One turbine screw lift 211, the first driving motor 212, the second turbine screw lift 213 and the drive rod
214 are arranged at intervals with two groups in front and back upwards makes the Sheng sand table 22 that can be jacked and be lowered by four groups of turbine screw lifts,
The stability for containing sand table 22 is further increased, the setting of the transmission belt 215 can guarantee each turbine screw rod liter
The synchronism of the lifting of drop machine, so that the center of gravity for containing sand table 22 is located at four turbine screw lift tops and is formed by plane
Portion ensure that sand table 22 is contained during pushing away sand to be not easy to shake, and ensure that the stabilization of the entity sand table model after pushing away sand.
Such as figure, 6, shown in Fig. 8, Fig. 9 and Figure 11, the left and right includes that sliding block 321, sliding rail 322, second drive to driving mechanism
Dynamic motor 323, driven roller 324, driven voller 325, driving band 326；The sliding rail 322 is along left and right to being installed on the rack 1, institute
It states sliding block 321 to be removably mounted to the mounting plate 31 and be slidably matched with the sliding rail 322, the driven roller 324 and described
Driven voller 325 along left and right to being interval in the rack 1, the driving band 326 and the driven roller 324 and the driven voller 325
V belt translation cooperation, and the driving band 326 is detachably connected with the sliding block 321, the motor shaft of second driving motor 323
It is drivingly connected with the driven roller 324, the drive connection can be to be connected by shaft coupling, can also be by drive the drive
Dynamic band 326 it is mobile so that drive the mounting plate 31 with the sliding block 321 along left and right to sliding.The sliding block 321 and sliding rail 322
Setting ensure that the mounting plate 31 along left and right to the stationarity moved, second driving motor 323, the driven roller
324 (as shown in figure 8, can be by Bevel Gear Transmission (in Fig. 8 between second driving motor 323 and the driven roller 324
It is not shown), naturally it is also possible to second driving motor 323 and the driven roller are realized using other orthogonal driving forms
Transmission between 324), the driven voller 325 and it is described driving band 326 setting, can drive the sliding block 321 along left and right to
Moved above the Sheng sand table 22, convenient for it is described push away husky bar 41 left and right move up and complete to push away husky operation, and the drive
Dynamic band 326 is detachably connected setting with the sliding block 321, convenient for overhauling, reduce maintenance and use this sand pushing device at
This.
As shown in Figure 11 to Figure 13, each described to push away husky unit 4 corresponding described to push away husky driving mechanism 42 include pushing away sand
Pole socket 421 pushes away husky motor 422 and spur gear 423, described to push away husky pole socket 421 vertically to being fixedly installed in the mounting plate
31, and it is described push away husky pole socket 421 there is upper and lower perforative mounting groove 4211, it is described to push away husky bar 41 vertically to being slidably mounted on
Mounting groove 4211 is stated, and described pushes away husky bar 41 away from the slot bottom side of the mounting groove 4211 vertically to being provided with tooth-strip part
411, the spur gear 423 is installed on the motor shaft for pushing away husky motor 422, and the spur gear 423 is matched with the tooth-strip part 411
It closes, it is described to push away husky motor 422 and described push away sand to drive the spur gear 423 to rotate into drive by the tooth-strip part 411
Bar 41 is vertically to movement.The described of husky unit 4 is pushed away described in each pushes away husky motor 422, the spur gear 423, the tooth-strip part
411 and the lesser spy of fluctuation for pushing away being equipped with for husky motor 422, being utilized that spur gear 423 is engaged with tooth-strip part 411
Point is relatively easy to the rotation control by pushing away husky motor 422 to push away husky bar 41 in the displacement of upward and downward, in turn described in accurate adjust
So that it is more accurate to push away husky moulding.Limited block 412 can be set in each upper end for pushing away husky bar 41, and the limited block 412 is used
To push away husky bar 41 in the limit of the upper surface of the mounting groove 4211 to described.The setting of the limited block 412 had both been avoided that described
Push away husky bar 41 and slip the mounting groove 4211 downwards, but convenient for it is described push away husky bar 41 under the driving for pushing away husky motor 422 into
Row resets operation.
The structure of the above projection sand table is only the embodiment of the present invention, does not do rising limit to the concrete shape of projection sand table
It is fixed.
In a preferred embodiment as shown in Figure 5:
It is described when recognize the projection sand table feedback push away it is husky complete signal when, Xiang Suoshu projection device issue for
Projected on the target sand table corresponding target image projection instruction, for the projection device according to the projection instruction to
The target sand table projection target image specifically comprises the following steps:
S51 obtains the sand dune surface characteristic data for pushing away the target sand table after the completion of sand.
The three-dimensional coordinate of each point of curved surface where the characteristic, that is, target sand table projects the surface after being formed
Information.
S52 obtains Means of Deformation Mapping Approach relationship of the sand dune surface relative to projection device using the sand dune surface characteristic data.
In projection operation, system, which obtains, to be needed to project to the original image information of sand table, the original image information
After the characteristic for the every bit corresponding position that middle correspondence is projected on projection sand table carries out deformation process to original image information
Target image is obtained, can be offset after target image is projected to sand dune surface because of shaped face to original image because of perspective plane injustice
Cause the influence of deformation.
Raw video progress deformation process is obtained target image according to the Means of Deformation Mapping Approach relationship by S53.That is control projection
Projector in equipment projects the target image after deformation process to target sand table.
Specifically, it is described according to the Means of Deformation Mapping Approach relationship to the method for the sand dune surface projection include be based on Bezier
The compromise face distortion of projection technology of curved surface.
The compromise face distortion of projection technology based on bezier surface is the prior art.The characteristics of this deformation, exists
Be in, each position of image it is relevant to the position at all control points, for some selected picture position, from
Its closer control point is endowed higher weight.Therefore, we only need to adjust the position at control point, so that it may control image
Deform.And this deformation is smoother.(reference book: computer graphics (third edition), Donald Hearn
et al.)
S54, Xiang Suoshu projection device issue the instruction that the target image is projected to the sand dune surface.
It controls the projection device and projects the target image to the surface of the target sand table.
Specifically, the altitude data includes GIS altitude data.
Certain altitude data may be the altitude data that Beidou Navigation System provides, the altitude data select compared with
For universal GIS altitude data, it is convenient for compatible most of sand table model data.
Second aspect includes memory and processing the embodiment of the invention provides a kind of projection sand table system control device
Device, the memory, for storing computer program.The processor, for when loaded and executed, realizing such as
Projection sand table system control system described above.Wherein, which can be server etc..
The third aspect, the embodiment of the invention provides computer program is stored on a kind of readable storage medium storing program for executing, when described
When computer program is executed by processor, projection sand table system control method as described above is realized.
The present invention above pushes away sand in projection sand table by the Tui Sha mechanism of control projection sand table and forms target sand table, and controls throwing
Shadow equipment projects target image on the target sand table.Operation sand table is presented with the state of entity sand table, and can
Target image is shown on entity sand table；Solving existing three-dimensional electronic sand table, there are users to observe with being unable to visual pattern
The problems such as sand table topography and geomorphology.
Reader should be understood that in the description of this specification reference term " one embodiment ", " is shown " some embodiments "
The description of example ", " specific example " or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure,
Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown
The statement of meaning property need not be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
For convenience of description and succinctly, the specific work process of the device of foregoing description and unit can refer to aforementioned
Corresponding process in embodiment of the method, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of the embodiment of the present invention
'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, is also possible to two or more units and is integrated in one unit.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a read/write memory medium.Based on this understanding, technical solution of the present invention is substantially in other words to existing
Having all or part for the part or the technical solution that technology contributes can be embodied in the form of software products,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or the network equipment etc.) execute all or part of the steps of each embodiment method of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or substitutions,
These modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be wanted with right
Subject to the protection scope asked.
Claims (10)
1. a kind of projection sand table system control method, the projection sand table system includes projection sand table and projection device, feature
It is, the projection sand table system control method includes the following steps:
Obtain sand table model data corresponding with target sand table；
According to the feature point information of target sand table described in the sand table model data acquisition；
Obtain the altitude data of the target sand table corresponding with the feature point information；
The sand pushing device execution of the projection sand table is driven to push away husky operation according to the altitude data, in the projection sand table
Push away the husky formation target sand table；
When recognize the projection sand table feedback push away it is husky complete signal when, Xiang Suoshu projection device is issued for the target
The projection instruction of corresponding target image is projected on sand table, so that the projection device is instructed according to the projection to the target
Sand table projects target image.
2. projection sand table system control method according to claim 1, which is characterized in that described according to the altitude data
The sand pushing device execution of the projection sand table is driven to push away husky operation, to push away the husky formation target sand table in the projection sand table
Specifically comprise the following steps:
Obtain the current location posture information of the sand pushing device；
Target position posture information corresponding with the current location posture information is obtained according to the current location posture information；
Drive the sand pushing device to mesh corresponding with the target position posture information according to the target position posture information
Mark posture.
3. projection sand table system control method according to claim 1, which is characterized in that described according to the high number of passes
Husky operation is pushed away according to driving the sand pushing device of the projection sand table to execute, it is husky to push away the husky formation target in the projection sand table
Further include following steps before the step of disk:
Judge whether the sand pushing device is in reset position；
When the sand pushing device is in the reset position, it is described according to the altitude data driving projection to issue progress
The sand pushing device execution of sand table pushes away husky operation, to push away the preparation of husky the step of forming the target sand table in the projection sand table
Instruction；
When the sand pushing device is not at the reset position, issue for driving the sand pushing device to reach the reset position
The reset instruction set.
4. projection sand table system control method according to claim 3, which is characterized in that the sand pushing device includes: a left side
Dextrad mounting assembly and multiple push away husky unit；The left and right includes mounting plate to mounting assembly and controls to driving mechanism, described
Left and right is detachably connected to the power output end of driving mechanism with the mounting plate, to drive the mounting plate husky in the projection
The top of the Sheng sand table of disk is along left and right to moving；
It is multiple it is described push away husky unit and be set to the mounting plate to arrangement along front and back, it is each that described to push away husky unit include pushing away husky bar
With push away husky driving mechanism, it is described to push away husky driving mechanism and described push away husky bar to drive and close to the Sheng sand table or be upwardly away from downwards
The Sheng sand table.
5. projection sand table system control method according to claim 4, which is characterized in that the left and right to driving mechanism and
It is described that push away husky driving mechanism include driving motor.
6. projection sand table system control method according to claim 1, which is characterized in that described to recognize the projection
When pushing away husky completion signal of sand table feedback, Xiang Suoshu projection device is issued for projecting corresponding target on the target sand table
The projection of image instructs, so that the projection device is specific to target sand table projection target image according to projection instruction
Include the following steps:
Obtain the sand dune surface characteristic data for pushing away the target sand table after the completion of sand；
Means of Deformation Mapping Approach relationship of the sand dune surface relative to projection device is obtained using the sand dune surface characteristic data；
Raw video progress deformation process is obtained into target image according to the Means of Deformation Mapping Approach relationship；
The instruction that the target image is projected to the sand dune surface is issued to the projection device.
7. projection sand table system control method according to claim 6, which is characterized in that described according to the Means of Deformation Mapping Approach
The method that raw video progress deformation process obtains target image is included that the compromise face based on bezier surface projects by relationship
Deformation technology.
8. projection sand table system control method according to claim 1, which is characterized in that the altitude data includes GIS
Altitude data.
9. a kind of projection sand table system control device, which is characterized in that including memory and processor；
The memory, for storing computer program；
The processor, for when loaded and executed, realizing the throwing as described in claim 1 to 8 any one
Shadow sand table system control method.
10. a kind of readable storage medium storing program for executing, which is characterized in that computer program is stored on the readable storage medium storing program for executing, when described
When computer program is executed by processor, the projection sand table system controlling party as described in claim 1 to 8 any one is realized
Method.
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| CN117078885A (en) * | 2023-09-07 | 2023-11-17 | 广州市创佳建筑模型有限公司 | Building model spliced sand table coordinate and posture guiding system based on feature recognition |
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