CN112203071B

CN112203071B - Projection method, system and storage medium based on horizontal correction of distance sensor

Info

Publication number: CN112203071B
Application number: CN202011398607.1A
Authority: CN
Inventors: 李志�; 金凌琳; 林绵发
Original assignee: Shenzhen Dangzhi Technology Co ltd
Current assignee: Shenzhen Dangzhi Technology Co ltd
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-04-23
Anticipated expiration: 2040-12-03
Also published as: CN112203071A; CN113163186A; CN113163186B

Abstract

The application discloses a projection method, a system and a computer readable storage medium based on distance sensor horizontal correction, wherein the method comprises the steps of obtaining a first distance and a second distance from two optical machines to a projection surface respectively and a third distance from a camera to the projection surface and determining a first normal; if the first distance is equal to the second distance, acquiring a splicing boundary reference line; controlling projection surfaces of the two optical machines in the shooting direction of the camera to respectively project and splice the calibration images; shooting an acquired image of the spliced calibration image based on the camera, and determining the position relationship of the two spliced calibration images; adjusting the projection angle of the optical machine according to the position relation until the two spliced calibration images are seamlessly spliced at the spliced boundary reference line; and performing trapezoidal correction on the two optical machines, and controlling the two optical machines to project images to be displayed respectively to the projection surface. The application improves the overall effect of the effective projection picture of the wide-screen projection system.

Description

Projection method, system and storage medium based on horizontal correction of distance sensor

Technical Field

The present disclosure relates to the field of projection display technologies, and in particular, to a projection method and system based on horizontal calibration of a distance sensor, and a computer-readable storage medium.

Background

With the development of science and technology, projection equipment is increasingly popularized in offices, multifunctional meeting rooms and home theaters, at present, projection equipment or a projection system generally uses a single optical machine to output a single optical path for projection, and in the projection direction, the projection area is limited by the projection distance, the physical imaging characteristics of the optical machine, trapezoidal correction of images and the like.

When the projection apparatus or the projection system is in side projection, the actually displayed projection image is scaled down and corrected due to the effect of the image trapezoidal correction factor, so that the appearance is impaired, and the larger the side projection angle is, the smaller the projection area of the actually displayed image is. Particularly, when the projection displays a large-width image, the actual display projection picture can only be scaled down under the condition of keeping a high width and a high proportion, which is reflected in that the upper black edge and the lower black edge of the projection are very large, the projection area of the actual display image is small, and the overall effect of the effective projection picture is poor.

The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.

Disclosure of Invention

The embodiments of the present application mainly aim to provide a projection method and system based on horizontal calibration of a distance sensor, and a computer readable storage medium, and aim to solve the technical problems that the actual display image projection area of a conventional projection device or system is small, and the overall effect of an effective projection image is poor.

In order to achieve the above object, an embodiment of the present application provides a projection method based on distance sensor horizontal correction, where the projection method based on distance sensor horizontal correction is applied to a wide-screen projection system, where the wide-screen projection system includes two optical machines and a camera arranged on the same base plane, the camera is arranged on a plane perpendicular to a connection line between the two optical machines and determined by a center of the connection line, but a projection point of the camera on a projection plane is not on a projection line of the connection line of the two optical machines on the projection plane, the optical machines and the camera are respectively provided with distance sensors, the camera, a gyroscope sensor and a reference line emitter are fixed on one base plane, and a projection plane is arranged in a camera shooting direction;

the projection method based on the horizontal correction of the distance sensor comprises the following steps:

based on the distance sensor, acquiring a first distance from one optical machine to the projection surface, a second distance from the other optical machine to the projection surface and a third distance from the camera to the projection surface; determining a first normal passing through the position of the camera and perpendicular to a vertical plane of a connecting line of the two optical machines;

if the first distance and the second distance are equal to a first calculated distance, wherein the first calculated distance is the sum of the third distance and the distance from the camera fixed in the structure to the vertical plane of the connecting line of the two optical machines, a plane principle is determined by three points, the vertical plane of the connecting line of the two optical machines is determined to be parallel to the projection plane, a longitudinal straight line passing through the projection point of the first normal line on the projection plane is obtained, and the longitudinal straight line is used as a splicing boundary reference line;

controlling projection surfaces of the two optical machines in the shooting direction of the camera, and respectively projecting and splicing the calibration images;

shooting an acquired image of the spliced calibration image based on the camera, and determining the position relationship of the two spliced calibration images;

adjusting the projection angle of the optical machine according to the position relation until the two spliced calibration images are seamlessly spliced at the spliced boundary reference line;

and performing trapezoidal correction on the two optical machines, and controlling the two optical machines to project images to be displayed respectively to the projection surface.

Optionally, the step of determining a positional relationship between the two stitched calibration images based on the captured images of the stitched calibration images captured by the camera includes:

carrying out characteristic analysis on collected images of spliced calibration images shot by a camera, and detecting whether an overlapping area exists between the two spliced calibration images;

if the two spliced calibration images have an overlapping area, the position relation is intersection;

if there is no overlapping area between the two stitched calibration images, the positional relationship is a phase separation.

Optionally, the step of adjusting the projection angle of the optical machine according to the position relationship includes:

if the position relations are separated, the included angle of the light emitting directions of the two optical machines is reduced; if the position relations are intersected, generating and increasing the included angle of the light emitting directions of the two optical machines; in the process of adjusting the included angle, if the fact that the longitudinal boundary of any splicing calibration image is overlapped with the splicing boundary reference line is detected, the rotation of the optical machine overlapped with the longitudinal boundary is stopped.

Optionally, after the step of obtaining a first distance from one optical machine to the projection surface, a second distance from another optical machine to the projection surface, and a third distance from the camera to the projection surface, the method further includes:

if the first distance and the second distance are not equal to the first calculation distance, prompting a user to manually adjust the projection surface or reset the projection angle of the optical machine, enabling the projection angle bisector of the reset optical machine to be parallel to the first normal line, and rotating the common base of the two optical machines in the left and right directions until the connection line of the two optical machines is parallel to the projection surface;

calculating and obtaining a target angle C to be adjusted of the projection angles of the two optical machines according to the connecting line distance of the two optical machines and the third distance from the camera to the projection plane, as shown in fig. 6,

the angle C = arctan (L/H) -. sub, the angle B is one half of the bare engine projection range angle, H is a third distance plus the distance from the structural camera to the two bare engine connecting lines, and L is a fourth distance from the bare engine to the centers of the two bare engine connecting lines;

adjusting the projection angles of the two optical machines according to the target angle until the two spliced calibration images are spliced seamlessly at the spliced boundary reference line;

and executing the step of performing trapezoidal correction on the two optical machines and controlling the two optical machines to project images to be displayed to the projection surface respectively.

Optionally, the step of adjusting the projection angles of the two optical machines according to the target angle includes:

and respectively controlling the two photomasks to rotate the projection angle in the same rotation direction and the opposite rotation direction, and stopping the rotation of the photomasks for coinciding the longitudinal boundary if the longitudinal boundary of any spliced calibration image is detected to coincide with the spliced boundary reference line.

Optionally, the wide-screen projection system further comprises a focusing motor, the focusing motor is disposed at the lens of the optical engine,

before the step of controlling the projection surfaces of the two optical machines to project and splice the calibration images to the camera shooting direction respectively, the method further comprises the following steps:

controlling the two optical machines to project a focal length calibration image to the projection surface;

and controlling a focusing motor to adjust the focal lengths of the two optical machines based on the definition of a focal length calibration image dynamically acquired by the camera until the definition reaches a preset definition threshold value.

Optionally, the projection method based on the distance sensor horizontal correction further includes:

after the splicing calibration images are detected to be overlapped relative to the two longitudinal boundaries, the camera collects the two spliced calibration images after being combined again, and then the number of transverse pixels and the number of longitudinal pixels of the overall image after the two spliced calibration images are seamlessly spliced are detected;

calculating and acquiring the approximate resolution of the overall image relative to the actual resolution according to the number of the transverse pixels and the number of the longitudinal pixels;

comparing the approximate resolution with a preset resolution of the two optical machine projection images;

if the difference between the approximate resolution and the preset resolution is within a threshold value, outputting a complete prompt of the wide-screen projection;

if the difference between the approximate resolution and the preset resolution exceeds a threshold value, prompting a user to adjust the position of the projector or the position of the projection surface through a voice or projection interface and then carrying out splicing calibration again until the difference between the approximate resolution and the preset resolution is within the threshold value.

Optionally, after the step of obtaining a first distance from one optical machine to the projection surface, a second distance from another optical machine to the projection surface, and a third distance from the camera to the projection surface based on the distance sensor, the method further includes:

if the instruction of canceling the wide-screen projection is detected, detecting the current projection brightness requirement of the wide-screen projection system;

if the current projection brightness requirement is larger than or equal to a preset brightness threshold value, controlling the two optical machines to project splicing calibration images to the area, perpendicular to the projection surface, in the shooting direction of the camera until the two splicing calibration images are completely overlapped;

and performing trapezoidal correction on the two optical machines, and controlling the two optical machines to project the same image to be displayed to the projection surface.

In order to achieve the above object, the present application further provides a wide-screen projection system, where the wide-screen projection system includes two optical machines and a camera arranged on a same plane, a memory, a processor, and a computer program stored in the memory and capable of running on the processor, the camera is arranged on a connecting line between the two optical machines, and faces a perpendicular bisector of a projection plane, the optical machines and the camera are respectively provided with a distance sensor, the camera, a gyroscope sensor, and a reference line monochromatic light emitter are fixed on a plane, a projection plane is arranged in a shooting direction of the camera, and the computer program is executed by the processor to implement the above steps of the projection method based on the horizontal correction of the distance sensor.

To achieve the above object, the present application further provides a readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the projection method based on the distance sensor level correction as described above.

In the embodiment of the application, wide-screen projection is realized by arranging two optical machines, when a first distance from one optical machine to a projection plane, a second distance from the other optical machine to the projection plane and a first calculation distance obtained by calculating a third distance from a camera to the projection plane are detected to be equal, when the shooting direction of the camera is perpendicular to the projection plane, a longitudinal straight line passing through a projection point of a first normal on the projection plane is obtained, the longitudinal straight line is used as a splicing boundary reference line, the splicing boundary reference line can play a good guiding role in splicing identification of the camera, the two optical machines are controlled to respectively project splicing calibration images to the projection plane, and based on the position relation of the splicing calibration images dynamically acquired by the camera, the projection angles of the optical machines are adjusted according to the position relation until the two splicing calibration images are seamlessly spliced; and finally, trapezoidal correction is carried out on the two optical machines, the two optical machines are controlled to project the image to be displayed on the projection surface, so that the two optical machines jointly output the projection picture output by the single optical machine in the conventional scheme, the widths of the projection pictures output by the two optical machines are shortened, even if the projection picture with the shortened single width is reduced through trapezoidal correction under the condition that the optical machines are in side projection, or in wide-screen display, in order to keep the equal-ratio reduction of the high-width proportion, the two reduction processes share the influence of the equal-ratio reduction by the projection pictures of the two optical machines, so that the amplitude of the equal-ratio reduction of the actual projection picture is greatly reduced, the problems that the upper and lower black edges of the projection are large and the projection area of the actual display image is small are solved, and the integral effect of the effective projection picture.

Drawings

FIG. 1 is a schematic view of a wide-screen projection system according to the present application;

FIG. 2 is a schematic view of another embodiment of a wide screen projection system according to the present invention;

FIG. 3 is a schematic view of the orientation and reference line layout of an embodiment of a projection screen in a widescreen projection system according to the present application;

FIG. 4 is a schematic flowchart of an embodiment of a projection method based on horizontal calibration of a distance sensor according to the present application;

FIG. 5 is a schematic flowchart illustrating a projection method based on horizontal calibration of a distance sensor according to another embodiment of the present invention;

FIG. 6 is a schematic diagram of an optical path in a projection method based on horizontal calibration of a distance sensor according to the present invention, where the projection plane is tilted and parallel.

The reference numbers illustrate:

1 optical machine, 2 camera;

3 circuit board, 4 base;

5, an image processing chip and a 6 optical machine driving chip;

71 a first motor, 72 a first mounting table;

73 second mounting table, 11 drive gear;

p included angle, 8 projection screen;

91 a second motor, 92 a horizontal rotating shaft;

10 a focusing motor and 11 a horizontal adjusting surface;

12 horizontally adjusting the base in the vertical direction and 13 a distance sensor at the camera;

14 reference line monochromatic light emitter, 15 distance sensor at the camera.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the embodiment of the present application are only used to explain the relative position relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indication is changed accordingly.

In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, descriptions in this application as to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

In an embodiment of the present application, referring to fig. 1 and 2, a wide-screen projection system includes: the optical-mechanical device comprises two optical-mechanical devices 1, a camera 2, a circuit board 3 and a base 4, wherein the optical-mechanical devices 1 are arranged on the base 4 at intervals, a driving assembly for driving the optical-mechanical devices 1 to rotate is arranged on the base 4, the camera 2 is arranged on the base 4 between the two optical-mechanical devices 1, the camera 2 is used for collecting various calibration images output by the optical-mechanical devices 1, and the calibration images comprise splicing calibration images and focal length calibration images; the models of the two optical machines 1 are generally the same, that is, the projection optical parameters of the two optical machines 1 are basically the same, the base 4 mainly plays a role in installation and support, the optical machines 1 are movably installed on the base 4 at intervals, the optical machines 1 are driven by the driving assembly to rotate on the plane where the base 4 is located, the light emitting direction of the optical machines 1 is adjusted, and therefore the projection area position of the optical machines 1 on the projection screen 8 is adjusted. The camera 2 is mainly used for collecting image content projected to the projection screen 8 by the optical machine 1, the image content can be a calibration image for projection calibration of the optical machine 1, and can also be a projection picture generated by cutting a to-be-displayed image projected by the optical machine 1, generally speaking, in order to facilitate the camera 2 to accurately collect the image content, the camera 2 is arranged on the base 4 between the two optical machines 1, thereby reducing horizontal offset of the image content projected by the optical machine 1 as much as possible, improving accuracy of the image content collected by the camera 2, and further improving accuracy of data analysis of the image processing chip 5 and the optical machine driving chip 6.

Referring to fig. 2, a processor is arranged on the circuit board 3, and the processor comprises an image processing chip 5 and an optical drive chip 6 which are in communication connection with each other; the image processing chip 5 is in communication connection with the optical machine 1, and controls the optical machine 1 to output splicing calibration images respectively by receiving image data and logic control signals of the image processing chip 5; the image processing chip 5 is respectively in communication connection with the optical machine driving chip 6, the driving assembly and the camera, so that the driving assembly is controlled to adjust an included angle P formed by the light emitting directions of the two optical machines 1 based on the splicing calibration images acquired by the camera 2, and the adjacent boundaries of the two splicing calibration images are connected; after the two splicing calibration images are connected, the optical-mechanical driving chip 6 informs the image processing chip 5 to control the optical-mechanical 1 to output respective projection images, wherein the projection images are obtained by proportionally splitting the images to be displayed by the image processing chip 5 according to the width proportion of the splicing calibration images.

The circuit board 3 is generally disposed on the base 4 and spaced from the optical machine 1, that is, the circuit board 3 is disposed above one side of the base 4 where the optical machine 1 is mounted, a bracket can be disposed between the circuit board 3 and the base 4, the circuit board 3 is fixedly connected with the bracket, and the height of the bracket is greater than that of the optical machine 1, so that the circuit board 3 and the optical machine 1 are disposed at intervals. Optionally, because ray apparatus 1 power is great, and the heat production is more, and the heat dissipation problem is outstanding, can set up the fin in circuit board 3 towards ray apparatus 1 one side, and the radiating fin one end is connected circuit board 3, one end and is connected ray apparatus 1 radiating piece or neighbouring ray apparatus 1 louvre to effectively utilize the region between circuit board 3 and the ray apparatus 1, increase heat radiating area improves the radiating efficiency of ray apparatus 1.

The image processing chip 5 and the optical engine driving chip 6 are both solid chips installed on the circuit board 3, and the image processing chip 5 is mainly used for controlling the optical engine 1 to output images, and splitting the images to be displayed and controlling the optical engine 1 to respectively display the split images if based on an external instruction. The optical machine driving chip 6 is mainly used for adjusting the light emitting direction of the optical machine 1, the inclination angle of the plane where the optical machine 1 is located and the focal length of the optical machine 1, and the optical machine driving chip 6 is in communication connection with the first motor 71, the second motor 91 and the focusing motor 10.

In this embodiment, referring to fig. 2 and 3, the image processing chip 5 controls the optical machines 1 to output the splicing calibration images to project onto the projection screen 8, the camera 2 continuously collects the projected splicing calibration images, the optical machine driving chip 6 analyzes the splicing calibration images collected by the camera 2, the driving module is controlled to adjust the included angle P formed by the light emitting directions of the two optical machines 1, the adjacent boundaries (two longitudinal boundaries perpendicular to and opposite to the transverse direction of the projection screen 8) of the two splicing calibration images, when the distance between the adjacent boundaries of the two splicing calibration images is too large, the driving module is controlled to decrease the included angle P formed by the light emitting directions of the two optical machines 1, when the distance between the adjacent boundaries of the two splicing calibration images is too small, the driving module is controlled to increase the included angle P formed by the light emitting directions of the two optical machines 1 until the adjacent boundaries of the two splicing calibration images are connected, at this time, the image processing chip 5 judges the relative positions of the two mosaic calibration images based on the two mosaic calibration images acquired by the camera 2 (if trapezoidal correction is completed before the mosaic calibration, the transverse width ratio obtained by analysis is 1:1, for example, the width ratio of the mosaic calibration images output by the two optical machines 1 is 1:1, namely, the two optical machines 1 output images with equal size, if the trapezoidal correction is performed after the mosaic calibration, the left and right projection screens project single-tone pictures with different whole screens, and the mosaic calibration is performed by detecting the colors of the adjacent areas of the two projection pictures), then the image processing chip 5 controls the optical machines 1 to output the projection pictures obtained by dividing and cutting the images to be displayed according to the width ratio, so that the two optical machines 1 output the projection pictures output by a single optical machine 1 in the conventional scheme together, and the amplitude of equal-scale reduction of actual projection pictures when a single optical machine system displays wide-screen, the problems that the upper black edge and the lower black edge are large and the actual projection area of the displayed image is small during full-screen projection are solved, and the overall effect of an effective projection picture of the wide-screen projection system is improved.

Further, in another embodiment of the wide screen projection system, the driving assembly includes a first motor 71, a first mounting stage 72 and a second mounting stage 73, the first motor 71 is in communication connection with the opto-mechanical driving chip 6, the first mounting stage 72 and the second mounting stage 73 are circular gears, the first mounting stage 72 and the second mounting stage 73 are axially and rotatably connected to the base 4 with the direction perpendicular to the base 4, two vertical rotating shafts are penetratingly arranged in the middle of the first mounting stage 72 and the second mounting stage 73, the first mounting stage 72 and the second mounting stage 73 rotate around the vertical rotating shafts, the two opto-mechanical devices 1 are respectively mounted on the sides of the first mounting stage 72 and the second mounting stage 73 away from the base 4, the opto-mechanical devices 1 can synchronously rotate along with the rotation of the first mounting stage 72 and the second mounting stage 73, the lateral outer edges of the first mounting stage 72 and the second mounting stage 73 are provided with interlocking gear teeth, that is, the first mounting stage 72 and the second mounting stage 73 are themselves circular gears, the first mounting table 72 and the second mounting table 73 are engaged with the driving gear 711 of the first motor 71, and when the light emitting direction of the optical machine 1 needs to be adjusted, the first motor 71 controls the driving gear 711 to drive the first mounting table 72 and the second mounting table 73 to rotate, so that the light emitting directions of the two optical machines 1 are adjusted, and adjacent boundaries of two spliced calibration images output by the optical machines 1 are controlled to be connected.

Preferably, the first mounting table 72 and the second mounting table 73 are gear members having the same size and are engaged with each other, and the driving gear 711 of the first motor 71 is engaged with the first mounting table 72 or the second mounting table 73. Namely, the gear teeth of the first mounting table 72 and the second mounting table 73 are meshed and linked, the driving gear 711 of the first motor 71 only needs to be meshed with any one of the first mounting table 72 or the second mounting table 73, so that the first motor 71 drives the first mounting table 72 and the second mounting table 73 to synchronously rotate, the rotating directions of the light emitting directions of the two optical machines 1 are opposite, and the rotating amplitudes of the two optical machines will be consistent, the problem that a single splicing calibration image moves too fast and too much is not easy to occur in the splicing calibration image splicing process, the width ratio of the two splicing calibration images is effectively kept unchanged, the method is particularly suitable for the splicing high-precision adjustment situation that the width ratio of the splicing calibration image of the two optical machines 1 is 1:1, and the splicing efficiency and the splicing precision of adjacent boundaries of the splicing calibration image are improved. Certainly, the number of the first motors 71 can be two according to needs, the two first motors 71 respectively and independently drive the first mounting table 72 and the second mounting table 73 (at this time, the two mounting tables are separated), that is, the projection angles of the two optical machines can be independently adjusted, for some high-precision projection scenes with special requirements, a user needs to independently adjust the projection angles of the two optical machines 1, and the multi-scene projection requirements of the wide-screen projection system are met.

Optionally, the camera 2 is disposed on an angular bisector of an included angle P formed between the light emitting directions of the two optical machines 1, the wide-screen projection system further includes a projection screen 8 (i.e., a projection plane or a projection plane curtain) located in the light emitting directions of the two optical machines 1, and the lighting direction of the camera 2 is perpendicular to the projection screen 8. Camera 2 sets up on the angular bisector, camera 2's daylighting direction can be parallel with the angular bisector or coincide, and wide screen projection system's projection screen 8 sets up the dead ahead at camera 2, does not shelter from between camera 2 and the projection screen 8, thereby camera 2's light-emitting direction is perpendicular with projection screen 8, the lateral deviation can reduce as far as possible to the projected image on camera 2 gathers projection screen 8, improve camera 2 and gather the precision of concatenation calibration image, further promote the concatenation efficiency and the concatenation precision on the adjacent border of concatenation calibration image. In addition, under the structure that the projection angles of the two optical machines 1 are independently adjusted, the camera 2 is disposed at the midpoint between the two optical machines 1.

Further, in another embodiment of the wide-screen projection system, referring to fig. 2, the wide-screen projection system further includes a physical horizontal angle calibration, which includes a second motor 91 and a horizontal rotating shaft 92, the second motor 91 is in communication connection with the optical engine driving chip 6, the horizontal rotating shaft 92 is fixedly connected with the horizontal adjusting surface 11 of the base 4, the second motor 91 drives the horizontal rotating shaft 92 to rotate so as to drive the horizontal adjusting surface 11 of the base 4 to rotate along with the horizontal rotating shaft 92, a portion of the horizontal rotating shaft 92 fixedly connected with the base 4 is the horizontal adjusting surface 11 of the plate-shaped member, the horizontal adjusting surface 11 can be fixedly connected with a side of the base 4 away from the optical engine 1, since there is no rotating space between the base 4 and the horizontal adjusting surface 11, the horizontal adjusting surface 11 and the base 4 do not move relatively, so that the second motor 91 drives the horizontal rotating shaft 92 to drive the base 4 to rotate more accurately, and the base 4 is placed on the inclined supporting surface when the base 4 where, Or the base 4 itself is not horizontal, or the base 4 is placed irregularly, resulting in the inclination of the base 4, and further resulting in the inclination of the light emitting direction of the optical machine 1 rather than the horizontal. Specifically, as shown in fig. 2, the base 4 includes a vertical horizontal adjustment base 12 and a horizontal adjustment surface 11, and the horizontal adjustment surface 11 is disposed on the vertical horizontal adjustment base 12. Therefore, after the adjacent boundaries of the calibration picture are connected, the second motor 91 drives the horizontal rotating shaft 92 to rotate so as to drive the base 4 to rotate, the image processing chip 5 controls the optical machine to output horizontal calibration images respectively, the optical machine driving chip 6 analyzes the horizontal calibration images acquired by the camera 2 synchronously, when the horizontal calibration image level is judged, namely, the plane included angle P of the planes where the two optical machines 1 are located is adjusted to be 0 degree, the planes where the two optical machines 1 are located are in a horizontal state, the second motor 91 is controlled to stop rotating, and therefore the projection of the optical machine 1 is ensured to meet the horizontal requirement. In addition, wide screen projection system still includes the gyroscope sensor that sets up on base 4, and ray apparatus drive chip 6 controls horizontal pivot 92 to rotate based on the data acquisition of gyroscope sensor to adjust two ray apparatus 1 place planes to the horizontality.

Optionally, horizontal rotating shaft 92 sets up in the one side that base 4 deviates from ray apparatus 1, the axial of horizontal rotating shaft 92 is parallel with the daylighting direction of camera 2, because the axial of horizontal rotating shaft 92 is unanimous in the daylighting direction of camera 2, then the axial perpendicular to projection screen 8 of horizontal rotating shaft 92, in the rotation process of horizontal rotating shaft 92, ensure that the turned angle of two ray apparatus 1 is unanimous, ensure that the light-emitting direction contained angle P of two ray apparatus 1 is unchangeable, when promoting wide-screen projection system's effective projection picture wholeness effect, avoid effective projection picture to appear the side to move. In addition, the preferred level of flattening of installation face of first mount table 72 and second mount table 73 is, and two ray apparatus 1 are in same horizontal plane to when horizontal rotating shaft 92 drove base 4 and rotates, two ray apparatus 1 are unanimous along with pivoted turned angle, have reduced the adjustment degree of difficulty that ray apparatus 1 adjusted to the horizontal plane, have further promoted the debugging efficiency before carrying out effective projection.

Further, referring to fig. 2 and 3, a reference mark is arranged on the side of the projection screen 8 facing the camera 2, the reference mark comprises a horizontal reference line, a vertical reference line and a splicing boundary reference line, the horizontal width extending direction of the horizontal calibration image should be parallel to the horizontal reference line, the longitudinal width extending direction of each type of calibration image (horizontal, splicing and focus calibration images) should be parallel to the vertical reference line, the splicing line when the adjacent boundaries of the two splicing calibration images are connected should coincide with the splicing boundary reference line, therefore, the reference mark can assist the optical-mechanical drive chip 6 in judging whether splicing of the spliced calibration images is completed or not and whether the plane where the optical-mechanical 1 is located (namely the horizontal calibration image) is located at the horizontal plane or not, and compared with the optical-mechanical drive chip 6 which is only analyzed according to the acquired image data of the camera 2, the calculation amount is less and the calculation efficiency is higher.

Optionally, the wide-screen projection system further includes a focusing motor 10, the focusing motor is in communication connection with the optical engine driving chip 6, and the focusing motor 10 is disposed at the lens of the optical engine 1 to adjust the focal length of the optical engine 1. Therefore, after the splicing calibration image is spliced and the plane of the optical machine 1 is horizontally calibrated (the horizontal calibration image is horizontal), the image processing chip 5 can control the optical machine 1 to respectively project two focal length calibration images, and control the respective focusing motors 10 of the two optical machines 1 to respectively adjust the focal lengths of the two optical machines 1, so that a clear projection effect is obtained. Finally, the image processing chip 5 cuts the image to be displayed in proportion according to the width proportion of the two projection areas after the trapezoidal correction, and then sends the image to the respective optical machines 1 for projection display.

The application also provides a projection method based on the horizontal correction of the distance sensor, the projection method based on the horizontal correction of the distance sensor is applied to a wide-screen projection system, the wide-screen projection system comprises two optical machines and a camera which are arranged on the same base plane, the camera is arranged on a vertical bisector of a connecting line midpoint between the two optical machines (namely, a connecting line central point of the two optical machines in figure 6), the arrangement positions of the camera and the distance sensor thereof can refer to figure 6, but the projection point of the camera on the projection plane is not on the connecting line of the two optical machines on the projection line of the projection plane, the positions of the optical machines and the camera are respectively provided with the distance sensor, such as a camera position distance sensor 13 and an optical machine position distance sensor 15 in figures 1 and 2, a gyroscope sensor is arranged on a red light ray emission 14, and the camera, the gyroscope sensor and a reference line monochromatic light emitter are fixed on one base plane, with reference to fig. 4, a projection method based on horizontal correction of a distance sensor includes:

step S10, based on the distance sensor, acquiring a first distance from one optical machine to the projection surface, a second distance from the other optical machine to the projection surface and a third distance from the camera to the projection surface; determining a first normal passing through the position of the camera and perpendicular to a vertical plane of a connecting line of the two optical machines;

the wide-screen projection system can comprise two optical machines, a camera, a distance sensor, a circuit board and a base, wherein the two optical machines and the camera are arranged on the base and are positioned on the same plane, the two optical machines are arranged on the base at intervals, a driving assembly for driving the optical machines to rotate to adjust the projection angle is arranged on the base, the camera is arranged on the base between the two optical machines to collect various calibration images output by the optical machines, and the shooting direction (namely the incident light direction of the camera) of the camera is perpendicular to the projection plane. The circuit board is provided with a processor, and the processor comprises an image processing chip and an optical machine driving chip which are in communication connection with each other.

Distance sensors typically measure distance based on the "time-of-flight" method, and the distance to an object is calculated by measuring the time interval by emitting a particularly short pulse of light and measuring the time from the emission of the light pulse to the reflection of the light pulse by the object. The distance sensor can be classified into an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor and the like according to different working principles. Therefore, based on the distance sensors arranged at the ray machines and the camera, the first distance from one ray machine to the projection surface, the second distance from the other ray machine to the projection surface and the third distance from the camera to the projection surface are detected and obtained, and the first calculation distance is obtained through calculation of the third distance. And synchronously, acquiring a first normal passing through the position of the camera and perpendicular to a vertical plane of a connecting line of the two optical machines, wherein the first normal is a vertical line of the plane where the optical machines are located and a vertical point at the camera.

Step S20, if the first distance and the second distance are equal to the first calculated distance, determining that the vertical plane of the connecting line of the two optical machines is parallel to the projection plane by the principle that three points determine a plane, acquiring a longitudinal straight line passing through the projection point of the first normal on the projection plane, and taking the longitudinal straight line as a splicing boundary reference line;

when the first distance, the second distance and the first calculation distance are equal, a vertical plane of a straight line formed by connecting the two optical machines is parallel to a plane where the projection plane is located, a projection point of the first normal line on the projection plane is obtained based on the position of the camera relative to the projection plane, and a longitudinal straight line passing through the projection point is used as a splicing boundary reference line for subsequent seamless splicing of the spliced calibration images. Wherein the first calculated distance is the sum of the third distance plus the distance from the structurally fixed camera to the perpendicular plane of the two-camera link.

Step S30, controlling the two optical machines to project and splice the calibration images to the projection surfaces in the shooting direction of the camera;

wherein, the calibration image can be including concatenation calibration image and focus calibration image, and the contained angle and two ray apparatus projection angle adjustment of two ray apparatus light-emitting directions are exclusively used in to concatenation calibration image, and focus calibration image is exclusively used in the adjustment of ray apparatus focus.

When the wide-screen projection system is powered on and started or reset, the optical machine driving chip can firstly control the light emitting directions of the two optical machines to be restored to the preset initial direction, the image processing chip then controls the two optical machines to respectively shoot the projection surfaces in the direction towards the camera, the spliced calibration image is projected, and the color difference of the spliced calibration image relative to two longitudinal boundaries is large (the Euclidean distance is larger than the preset difference value) so as to be favorable for boundary identification.

Step S40, shooting the collected images of the spliced calibration images based on the camera, and determining the position relation of the two spliced calibration images;

the camera dynamically collects splicing calibration images projected by the optical machine in real time, the image processing chip carries out boundary identification and distance analysis on the splicing calibration images which are dynamically collected in real time, two opposite longitudinal boundaries of the two splicing calibration images can be identified firstly, and then the distance between the two longitudinal boundaries is analyzed and estimated, wherein the distance between the two longitudinal boundaries is larger than 0, and the backgrounds of the two splicing calibration images are not overlapped, so that the condition that the two splicing calibration images do not have an overlapped area is shown; the distance between the two longitudinal boundaries is less than 0 and the backgrounds of the two stitched calibration images coincide, indicating that there is an overlapping region between the two stitched calibration images. One point of a longitudinal edge of the projection plane can be used as a zero point of a transverse coordinate axis, the distance between two longitudinal boundaries is equal to the difference between the abscissas of the two longitudinal boundaries on the transverse coordinate axis, specifically, the difference is equal to the difference between the abscissa of the longitudinal boundary far away from the zero point (hereinafter referred to as far coordinate) and the abscissa of the longitudinal boundary near to the spliced calibration image (hereinafter referred to as near coordinate), wherein the distance is a negative value, which indicates that the far coordinate is closer to the zero point of the transverse coordinate axis relative to the near coordinate, and then the existence of an overlapping region in the two spliced calibration images is judged.

Optionally, referring to fig. 5, step S40 specifically includes:

step S41, carrying out characteristic analysis on the collected images of the spliced calibration images shot by the camera, and detecting whether the two spliced calibration images have an overlapping area;

step S42, if the two spliced calibration images have an overlapping area, the position relationship is intersection; if there is no overlapping area between the two stitched calibration images, the positional relationship is a phase separation.

The spliced calibration images are analyzed in a mode that the distance between the two longitudinal boundaries is equal to the difference value between the abscissa of the two longitudinal boundaries and the abscissa of the transverse coordinate axis, whether overlapping areas exist in the two spliced calibration images or not can be judged conveniently, then the overlapping areas exist in the two spliced calibration images, the position relation is judged to be intersected, the overlapping areas do not exist in the two spliced calibration images, and the position relation is judged to be separated.

Step S50, adjusting the projection angle of the optical machine according to the position relation until the two splicing calibration images are spliced seamlessly at the splicing boundary reference line;

generally speaking, the two stitching calibration images are mostly in a separated state, even if the two stitching calibration images are in an intersected state, the intersected state of the two stitching calibration images can be quickly judged through image analysis, generally, the colors of the two stitching calibration images are different, for example, one red color is different from the other blue color, when a fourth color except for the colors of red, blue and a projection plane is detected, the two stitching calibration images are judged to be in the intersected state, an included angle between light emitting directions of the two optical machines is increased, a projection angle of the two optical machines is adjusted until the fourth color is eliminated, the two longitudinal boundaries are overlapped at a stitching boundary reference line, and the two stitching calibration images are seamlessly stitched.

Therefore, when the two spliced calibration images are in a phase separation state, the larger the distance between the two spliced calibration images and two longitudinal boundaries is, the larger the included angle formed by the light emitting directions of the two optical machines is, the included angle needs to be reduced, and then when the judgment position relation is the phase separation, the included angle formed by the light emitting directions of the two optical machines is reduced, so that the projection angle of at least one optical machine is adjusted, wherein the distance is positively correlated with the adjustment speed of the projection angle of the optical machines, namely, when the distance is larger, the included angle formed by the light emitting directions of the two optical machines is larger, and the projection angle of the optical machines is adjusted at a larger rotation speed. In the process of continuously adjusting the projection angle of the optical machine, the processor continuously detects the distance between the two relative longitudinal boundaries of the two spliced calibration images based on the camera, and when the distance is 0, the processor indicates that the two relative longitudinal boundaries of the two spliced calibration images are overlapped at the reference line of the spliced boundaries, and the adjustment of the projection angle of the optical machine is finished. Of course, in the process of adjusting the included angle, if it is detected that the longitudinal boundary of any spliced calibration image is overlapped with the spliced boundary reference line, the rotation of the optical machine overlapping the longitudinal boundary is stopped.

Step S60, perform trapezoidal correction on the two optical machines, and control the two optical machines to project respective images to be displayed onto the projection surface.

After determining that the relative longitudinal boundaries of the spliced calibration images projected by the two optical machines are overlapped, the optical machine driving chip can control the two optical machines to output at least one frame of picture frame of the image to be displayed to the projection surface, and trapezoidal correction is respectively carried out on the two optical machines. Optionally, before the optical machine performs trapezoidal correction, the image processing chip performs trapezoidal correction on the optical machine a with a smaller projected picture frame to obtain a smaller trapezoidal correction image, a longitudinal boundary of the smaller trapezoidal correction image close to the other optical machine side is taken as a symmetry axis, a symmetric mapping region of the smaller trapezoidal correction image mapped by the symmetry axis is obtained, and according to a rectangular vertex coordinate of the symmetric mapping region, the larger picture frame projected by the optical machine B is subjected to trapezoidal correction to obtain another trapezoidal correction image with the same size as the smaller trapezoidal correction image. The image to be displayed is formal content projected by a wide-screen projection system required by a user, such as PPT, a movie, a television program and the like required by the user.

In this embodiment, the wide-screen projection is realized by setting two optical machines, when a first distance, a second distance and a first calculation distance obtained by calculating a third distance are detected to be equal, the shooting direction of the camera is perpendicular to the projection plane, a longitudinal straight line passing through a projection point of a first normal on the projection plane is obtained, and the longitudinal straight line is used as a splicing boundary reference line which can play a good guiding role in splicing identification of the camera, at the moment, the two optical machines are controlled to respectively project splicing calibration images to the projection plane, and based on the position relationship of the splicing calibration images dynamically acquired by the camera, the projection angles of the optical machines are adjusted according to the position relationship until the two splicing calibration images are spliced seamlessly; and finally, trapezoidal correction is carried out on the two optical machines, the two optical machines are controlled to project the image to be displayed on the projection surface, so that the two optical machines jointly output the projection picture output by the single optical machine in the conventional scheme, the widths of the projection pictures output by the two optical machines are shortened, even if the projection picture with the shortened single width is reduced through trapezoidal correction under the condition that the optical machines are in side projection, or in wide-screen display, in order to keep the equal-ratio reduction of the high-width proportion, the two reduction processes share the influence of the equal-ratio reduction by the projection pictures of the two optical machines, so that the amplitude of the equal-ratio reduction of the actual projection picture is greatly reduced, the problems that the upper and lower black edges of the projection are large and the projection area of the actual display image is small are solved, and the integral effect of the effective projection picture.

Further, in another embodiment of the projection method based on the horizontal calibration of the distance sensor according to the present application, referring to fig. 6, after the step S10 obtains the first distance from the optical engine to the projection surface and the second distance from the camera to the projection surface, the method further includes:

step H1, if the first distance, the second distance and the first calculated distance are not equal, prompting a user to manually adjust the projection surface or reset the projection angle of the optical machine, wherein the projection angle bisector of the reset optical machine is parallel to the first normal line, and then rotating the common base of the two optical machines in the left and right directions until the connection line of the two optical machines is parallel to the projection surface;

wherein the first distance can be the distance from the rotation center point A of the optical machine to the projection plane, the second distance can be the distance from the rotation center point B of the optical machine to the projection plane,

when one of the first distance, the second distance and the first calculated distance is not equal, it indicates that the plane where the projection screen is located is not parallel to the vertical plane of the connection line of the two optical machines, and a plane intersecting line is generated, as shown in fig. 6, closer to the projection plane of the optical machines. When the first distance, the second distance and the first calculation distance are unequal, a user is prompted to manually adjust the projection surface or reset the projection angle of the optical machine, the projection angle bisector of the reset optical machine is parallel to the first normal, and the common base of the two optical machines is rotated in the left and right directions until the connection line of the two optical machines is parallel to the projection surface.

Step H2, calculating and obtaining a target angle C to be adjusted of the projection angle of the two optical machines according to the distance between the two optical machines and a first calculated distance obtained by calculating a third distance from the camera to the projection plane, as shown in fig. 6; wherein, the angle C = arctan (L/H) -. sub, the angle B is one half of the bare engine projection range angle, H is three distance plus the distance from the structural camera to the two bare engine connecting lines, L is the fourth distance from the bare engine to the center of the two bare engine connecting lines;

referring to fig. 6, the four distances L from the optical machine to the centers of the two optical machine rotation centers and the camera and the distance sensor thereof at the projection point of the horizontal plane are already kept in the memory when the wide screen projection system leaves factory, after the projection screen is determined to be shifted as shown in fig. 6, the distance sensor at the camera is used for obtaining the third distance from the camera to the shifted projection plane and calculating to obtain the first calculated distance H, the angle enclosed by the thinner solid line (after adjustment of the optical machine projection angle boundary) in fig. 6 is the projection angle of the spliced calibration image projected by the two optical machines when the shifted projection plane is seamlessly spliced, the optical machine rotates from the initial position after reset to the adjusted state when the spliced calibration image is seamlessly spliced on the shifted projection plane, the target angle C needs to be rotated, namely, the state that the optical machine projection angle bisector is parallel to the normal at the optical machine is changed into the state that the optical machine projection angle bisector is at the target angle C with the normal (which is opposite to the state that the optical machine projection angle bisector is Simultaneous adjustment), in fig. 6, angle a is an included angle between a normal line at the optical machine and an adjusted optical machine projection angle boundary, and since the normal line at the optical machine is parallel to the normal line at the camera, arctan (L/H) = a, and angle B is an included angle between the adjusted optical machine projection angle boundary and an adjusted optical machine projection angle bisector (i.e., half of the optical machine projection range angle), so that angle C = arctan (L/H) — B, i.e., two optical machines rotate simultaneously from a post-reset state toward the camera direction by angle C.

Step H3, adjusting the projection angles of the two optical machines according to the target angle until the two spliced calibration images are spliced seamlessly at the spliced boundary reference line;

specifically, the two photomechanical rotation opposite rotation projection angles are respectively controlled, and if the fact that the longitudinal boundary of any splicing calibration image is overlapped with the splicing boundary reference line is detected, the photomechanical rotation overlapped with the longitudinal boundary is stopped. Therefore, the synchronous adjustment of the projection angles of the two optical machines is realized, the coincidence of the longitudinal boundary of any splicing calibration image projected by a single optical machine and the splicing boundary reference line is independently judged, the rotation of the optical machine at the coincident longitudinal boundary is stopped when the coincidence of the longitudinal boundary of any splicing calibration image and the splicing boundary reference line is detected, and the seamless splicing of the two splicing calibration images at the splicing boundary reference line is quickly and accurately realized after the target angle is known.

After the target angle & lt C is determined, the two optical machines simultaneously rotate & lt C towards the direction of the camera from the reset state to complete adjustment of the projection angles of the two optical machines, after the projection angles are adjusted, the two spliced calibration images are seamlessly spliced at a spliced boundary reference line, and after the adjustment of the projection angles of the two optical machines, the projection angle boundaries of the two optical machines converge and coincide at the intersection point of the inclined projection plane and the normal line of the camera in fig. 6.

Step H4, performing keystone correction on the two optical machines, and controlling the two optical machines to project respective images to be displayed onto the projection surface.

Specifically, the step of performing trapezoidal correction on the two optical machines and controlling the two optical machines to project respective images to be displayed onto the projection surface may include:

performing trapezoidal correction on the two optical machines to obtain the width proportion of the image after trapezoidal correction of the projection areas of the two optical machines; and cutting the image to be displayed based on the width proportion to obtain sub-images, and distributing the sub-images to respective optical machines for projection display.

In an embodiment of the present application, because the two optical machines project the horizontal or vertical offset of the projection image of the projection plane, and the sizes of the projection images of the two optical machines are different, the image processing chip performs the trapezoidal correction on the two optical machines, and the sizes of the images obtained after the trapezoidal correction of the projection areas of the two optical machines are different, so that the width ratio of the images obtained after the trapezoidal correction of the projection areas of the two optical machines can be obtained, for example, the image obtained after the trapezoidal correction of the optical machine a is 1 × 1 cell a, and the image obtained after the trapezoidal correction of the optical machine B is 2 × 1 cell B, so that the width (i.e., the length in the lateral direction) ratio of the images obtained after the trapezoidal correction of the optical machines a and B is 1: 2. the image processing chip divides an image to be displayed into a sub-image a with the total width of 1/3 and a sub-image B with the total width of 2/3 according to the width ratio of 1:2, the sub-image a is distributed to an optical machine A for projection display, and the sub-image B is distributed to an optical machine B for projection display, so that seamless splicing and wide-screen display of the image to be displayed after trapezoidal correction are realized, the reduction processing of trapezoidal correction commonly bears the influence of equal-scale reduction by the projection pictures of the two optical machines, the amplitude of the equal-scale reduction of the actual projection picture can be greatly reduced, the problems that the upper and lower black edges of the projection are large, and the projection area of the actual display image is small are solved, and the integral effect of the effective projection picture of the.

Further, in another embodiment of the projection method based on horizontal calibration of a distance sensor according to the present application, the wide-screen projection system further includes a focusing motor disposed at a lens of the optical engine, and before the step of controlling projection surfaces of the two optical engines in the shooting direction of the camera in step S30, the method further includes:

b, controlling the two optical machines to project focal length calibration images to the projection plane; based on the definition of the focus calibration image dynamically acquired by the camera, the focus motor is controlled to adjust the focus of the two optical machines until the definition reaches a preset definition threshold value.

Before the ray apparatus carries out the concatenation calibration, set up ray apparatus focus calibration flow, two ray apparatus of image processing chip control this moment are to the projection plane projection focus calibration image, and the focus of two ray apparatus of control focusing motor adjustment, and carry out the comparison to the definition and the budget definition threshold of the focus calibration image of gathering in real time through the camera, the definition when focus calibration image reaches preset definition threshold, show that the focus adjustment of two ray apparatus finishes, the ray apparatus can project clear projection picture this moment, guarantee the concatenation calibration image of the follow-up projection of ray apparatus, the definition of horizontal calibration image, be favorable to the camera to gather the calibration image of high definition, be favorable to the accurate analysis of concatenation calibration image and horizontal calibration image, the accuracy and the efficiency of image calibration have been improved.

Further, after the step of obtaining the first distance and the second distance from the two optical machines to the projection surface and the third distance from the camera to the projection surface based on the distance sensor, the method further includes:

d1, detecting the current projection brightness requirement of the wide-screen projection system if detecting the instruction of canceling the wide-screen projection;

when a wide-screen projection canceling instruction input by a user is detected, which indicates that the user does not need wide-screen projection currently, the current projection brightness requirement of the wide-screen projection system is further detected.

Step D2, if the current projection brightness requirement is larger than or equal to the preset brightness threshold, controlling the two optical machines to project the spliced calibration images to the area where the shooting direction of the camera is vertical to the projection plane until the two spliced calibration images are completely overlapped;

if the current projection brightness requirement is larger than or equal to the preset brightness threshold value, it is indicated that the current ambient light of the user is bright, and brightness display needs to be enhanced, the two optical machines are controlled to project the spliced calibration images to the area where the shooting direction of the camera is perpendicular to the projection surface until the two spliced calibration images are completely overlapped, and the brightness of the projection images of the two optical machines is mutually enhanced to highlight the image to be displayed.

In addition, if the current projection brightness requirement is smaller than the preset brightness threshold, one optical machine is closed, and only one optical machine is used for projection, so that the brightness requirement of a user for projecting an image to be displayed is met, and the electric energy consumed by one optical machine is saved.

And D3, performing trapezoidal correction on the two optical machines, and controlling the two optical machines to project the same image to be displayed on the projection surface.

The trapezoidal correction process may be substantially the same as step H4 described above, and will not be described in more detail again.

In addition, after detecting that the optical machine projects an image to be displayed on the projection surface, the projection method based on the horizontal correction of the distance sensor further comprises the following steps: detecting the similarity between images to be displayed projected by the optical machine, counting the duration of which the similarity is greater than or equal to a preset similarity threshold, if the duration is greater than the preset unit duration, outputting a prompt of whether the optical machine is turned off by the wide-screen projection system, wherein the prompt can be a voice prompt or an optical machine projection character prompt, and if the preset waiting duration after outputting the prompt of whether the optical machine is turned off is not responded, automatically turning off the optical machine; and if a shutdown instruction determined by a user or a shutdown instruction determined not to be performed is received, executing according to the user instruction. And if the similarity is smaller than the preset similarity threshold, clearing the duration of which the statistical similarity is greater than or equal to the preset similarity threshold so as to carry out statistics again. Therefore, when the optical machine projects the images which are basically the same for a long time, the duration of projecting the images which are basically the same starts to be counted, when the duration is longer than the duration of the preset unit, the fact that the user possibly sleeps in the projection process of the optical machine or the user is busy in other affairs indicates that the user possibly watches the optical machine, at the moment, in order to save electric energy and prolong the service life of the optical machine, at the moment, the wide-screen projection system outputs a prompt of whether to shut down, and a shutdown instruction or automatic shutdown can be further executed.

Furthermore, in order to further quickly detect whether the projection position of the stitched calibration image is projecting to the middle of the projection plane after the two stitched calibration images are seamlessly stitched, the projection method based on the horizontal correction of the distance sensor further includes:

calculating and acquiring the approximate resolution of the overall image relative to the actual resolution according to the number of the transverse pixels and the number of the longitudinal pixels; comparing the approximate resolution with a preset resolution of the two optical machine projection images;

if the difference between the approximate resolution and the preset resolution is within a threshold value, outputting a complete prompt of the wide-screen projection; if the difference between the approximate resolution and the preset resolution exceeds a threshold value, prompting a user to adjust the position of the projector or the position of the projection surface through a voice or projection interface, and then performing splicing calibration again until the difference between the approximate resolution and the preset resolution is within the threshold value.

When the difference between the approximate resolution and the budget resolution is within a threshold value, the splicing calibration image of the wide-screen projection is complete, the seamlessly spliced splicing calibration image is located in the middle of the projection surface, and excessive deviation does not occur.

In order to achieve the above object, the present application further provides a wide-screen projection system, where the wide-screen projection system includes two optical machines and a camera arranged on the same plane, a memory, a processor, and a computer program stored in the memory and capable of running on the processor, the camera is arranged at a midpoint position of a connection line between the two optical machines, the optical machines and the camera are respectively provided with a distance sensor, a projection plane is arranged in a shooting direction of the camera, and the computer program is executed by the processor to implement the steps of the projection method based on the distance sensor horizontal correction.

To achieve the above object, the present application further provides a readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the projection method based on the horizontal correction of the distance sensor.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.

It should be noted that step numbers such as S10 and S20 are used herein for the purpose of more clearly and briefly describing the corresponding content, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform S20 first and then S10 in specific implementation, which should be within the scope of the present application.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A projection method based on horizontal correction of a distance sensor is characterized in that the projection method based on horizontal correction of the distance sensor is applied to a wide-screen projection system, the wide-screen projection system comprises two optical machines and a camera, the two optical machines and the camera are respectively provided with the distance sensor, and a projection surface is arranged in the shooting direction of the camera;

based on the distance sensor, acquiring a first distance from one optical machine to the projection surface, a second distance from the other optical machine to the projection surface and a third distance from the camera to the projection surface, and determining a first normal line passing through the position of the camera and perpendicular to a vertical plane of a connecting line of the two optical machines;

if the first distance, the second distance and the first calculated distance are equal, wherein the first calculated distance is the sum of the third distance and the distance from the camera fixed in the structure to the vertical plane of the connecting line of the two optical machines, a plane principle is determined by three points, the vertical plane of the connecting line of the two optical machines is determined to be parallel to the projection plane, a longitudinal straight line passing through the projection point of the first normal line on the projection plane is obtained, and the longitudinal straight line is used as a splicing boundary reference line;

2. The projection method based on the horizontal correction of the distance sensor as claimed in claim 1, wherein the step of determining the positional relationship of the two stitched calibration images based on the captured images of the stitched calibration images taken by the camera comprises:

3. The projection method based on the distance sensor horizontal correction as claimed in claim 2, wherein the step of adjusting the projection angle of the optical machine according to the position relationship comprises:

if the position relations are separated, the included angle of the light emitting directions of the two optical machines is reduced; if the position relations are intersected, the included angle of the light emitting directions of the two optical machines is increased; in the process of adjusting the included angle, if the fact that the longitudinal boundary of any splicing calibration image is overlapped with the splicing boundary reference line is detected, the rotation of the optical machine overlapped with the longitudinal boundary is stopped.

4. The projection method based on the distance sensor level correction as claimed in any one of claims 1 to 3, further comprising, after the step of obtaining a first distance from one optical machine to the projection surface, a second distance from another optical machine to the projection surface, and a third distance from the camera to the projection surface:

if the first distance, the second distance and the first calculation distance are not equal, prompting a user to manually adjust the projection surface or reset the projection angle of the optical machine, enabling the projection angle bisector of the reset optical machine to be parallel to the first normal line, and rotating the common base of the two optical machines in the left and right directions until the connection line of the two optical machines is parallel to the projection surface;

calculating to obtain a target angle C to be adjusted of the projection angles of the two optical machines according to the connection line distance of the two optical machines and a first calculated distance obtained by calculating a third distance from the camera to the projection plane; wherein the content of the first and second substances,

5. The projection method based on the distance sensor level correction as claimed in claim 4, wherein the step of adjusting the projection angles of the two optical machines according to the target angle comprises:

6. The projection method based on the distance sensor level correction as claimed in claim 5, wherein the wide-screen projection system further comprises a focusing motor, the focusing motor is disposed at the lens of the optical machine,

before the step of controlling the projection surfaces of the two optical machines to shoot the images by the camera and respectively projecting and splicing the calibration images, the method further comprises the following steps of:

7. The projection method based on the distance sensor level correction as claimed in claim 6, further comprising, after the step of obtaining a first distance from one optical machine to the projection surface, a second distance from another optical machine to the projection surface, and a third distance from the camera to the projection surface based on the distance sensor:

8. A wide-screen projection system is characterized by comprising two optical machines and a camera which are arranged on the same base plane, wherein the camera is arranged on a plane which is vertical to a connecting line between the two optical machines and is determined by the center of the connecting line, but the projection point of the camera on a projection plane is not on the projection line of the connecting line of the two optical machines on the projection plane, the two optical machines and the camera are respectively provided with a distance sensor, and the projection plane is arranged in the shooting direction of the camera; the wide screen projection system comprises a processor and a memory, in which a computer program is stored, which computer program, when being executed by the processor, carries out the steps of the projection method based on distance sensor level correction of any of the preceding claims 1 to 7.

9. A computer-readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the projection method based on distance sensor level correction according to any one of claims 1 to 7.